Hier mal der Log - Robbi stand 4 Stunden im Dock und hat geladen.
Dann den Start Befehl geben: Mow
Motor läuft an, fährt nicht los - dies 3 mal hintereinander bis ich abgebrochen habe.
Meine Interpretation: fährt nicht los wegen 8308 driver error
ERROR: odometry error - rpm too low (left, right)=0.00,0.00
Wenn dem so ist, hilft wohl doch nur stromlos machen oder demnächst den geplanten Workaround.
Oder ist es vielleicht doch was anderes?
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4:23:31 ctlDur=0.02 op=Charge(initiatedByOperator 0) freem=234051 sp=2000196C bat=27.39,0.002(0.25) chg=28.53,1(0.01) diff=1.156 tg=-1.16,-3.95 x=-0.18 y=-3.49 delta=0.44 tow=557815800 lon=6.51024584 lat=51.38268785 h=77.6 n=-3.65 e=-0.30 d=3.03 sol=1 age=1.02
ChargeOp: charging completed (DOCKING_STATION=1, battery.isDocked=1, dockOp.initiatedByOperator=0, maps.mowPointsIdx=656, DOCK_AUTO_START=0, dockOp.dockReasonRainTriggered=0, dockOp.dockReasonRainAutoStartTime(min remain)=-263, timetable.mowingCompletedInCurrentTimeFrame=0, timetable.mowingAllowed=1, finishAndRestart=0)
AUTOSTOP: timetable is disabled
AUTOSTART: not defined DOCK_AUTO_START
Motor::setMowState 1
setOperation op=1
changeOperationType
dumpState: X=-0.18 Y=-3.49 delta=0.44 mapCRC=-532420 mowPointsIdx=656 dockPointsIdx=1 freePointsIdx=1 wayMode=2 op=1 sensor=0 sonar.enabled=1 fixTimeout=15 absolutePosSource=0 lon=0.00 lat=0.00 mowPwm=255 finishAndRestart=0 motorMowForwardSet=0
save state... ok
==> changeOp:Mow(initiatedByOperator 1)
OP_MOW
Motor::setMowState 0
battery.setIsDocked 0
Map::startMowing
findObstacleSafeMowPoint checking 9.06,-14.25
findPath (-2.02,-4.29) (9.06,-14.25)
path finder is enabled (using FLOAT_CALC)
freem=233343 allocating nodes 136 (3264 bytes)
freem=230047
starting path-finder
.finish nodes=136 duration=80
node pt=9.06,-14.25
node pt=-2.02,-4.29
Map::nextDockPoint: actual dockPointsIdx :1
Map::nextDockPoint: dockPointsIdx: 1 dockPoints.numPoints: 3 trackSlow: 1 trackReverse: 1 DOCK_IGNORE_GPS: 1
Map::nextDockPoint: to avoid gps no speed => obstacle! error resetLinearMotionMeasurement
MowOp:: Switch On mow
Motor::setMowState 1
Linetracker.cpp changed speed to: -0.20
WARN: PID unmet cycle time Ta=0.24 TaMax=0.20
WARN: PID unmet cycle time Ta=0.24 TaMax=0.20
WARN: PID unmet cycle time Ta=0.27 TaMax=0.20
Motor::setMowState 1
Info - LoopTime: 3 - 2 - 2.93 - 240ms
4:23:51 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=230207 sp=2000196C bat=27.30,0.002(0.79) chg=27.93,1(0.01) diff=1.059 tg=-1.16,-3.95 x=-0.18 y=-3.49 delta=0.44 tow=557835800 lon=6.51024575 lat=51.38268812 h=77.6 n=-3.64 e=-0.31 d=3.02 sol=1 age=1.00
dumpState: X=-0.18 Y=-3.49 delta=0.44 mapCRC=-532420 mowPointsIdx=656 dockPointsIdx=0 freePointsIdx=0 wayMode=2 op=1 sensor=0 sonar.enabled=1 fixTimeout=15 absolutePosSource=0 lon=0.00 lat=0.00 mowPwm=255 finishAndRestart=0 motorMowForwardSet=1
save state... ok
4:23:56 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=230207 sp=2000196C bat=27.32,0.001(0.56) chg=27.94,1(0.01) diff=0.777 tg=-1.16,-3.95 x=-0.18 y=-3.49 delta=0.44 tow=557840800 lon=6.51024564 lat=51.38268813 h=77.6 n=-3.64 e=-0.32 d=3.02 sol=1 age=0.99
checkmotorMowRPMStall: Mow
motor Spun up!
DATA: SPINUPTIME (ms), driverPWM, mowRPM, mowRPMSet: 10000, 178, 3118.74, 3200.00
Info - LoopTime: 3 - 2 - 2.88 - 90ms
4:24:1 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=230207 sp=2000196C bat=27.37,0.002(0.51) chg=27.92,1(0.01) diff=0.654 tg=-1.16,-3.95 x=-0.18 y=-3.49 delta=0.44 tow=557845800 lon=6.51024572 lat=51.38268815 h=77.6 n=-3.64 e=-0.31 d=3.03 sol=1 age=0.96
ERROR: odometry error - rpm too low (left, right)=0.00,0.00
Linetracker.cpp changed mow status: 1
Motor::setMowState 1
motor fault recover counter 1
4:24:6 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=230207 sp=200000A0 bat=27.25,0.002(0.92) chg=28.01,1(0.01) diff=0.710 tg=-1.16,-3.95 x=-0.18 y=-3.49 delta=0.44 tow=557850800 lon=6.51024574 lat=51.38268811 h=77.6 n=-3.65 e=-0.31 d=3.01 sol=1 age=0.96
dumpState: X=-0.18 Y=-3.49 delta=0.44 mapCRC=-532420 mowPointsIdx=656 dockPointsIdx=0 freePointsIdx=0 wayMode=2 op=1 sensor=0 sonar.enabled=1 fixTimeout=15 absolutePosSource=0 lon=0.00 lat=0.00 mowPwm=255 finishAndRestart=0 motorMowForwardSet=0
save state... ok
Info - LoopTime: 3 - 2 - 2.88 - 99ms
4:24:11 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=230207 sp=2000196C bat=27.27,-0.001(0.58) chg=27.80,1(0.01) diff=0.277 tg=-1.16,-3.95 x=-0.18 y=-3.49 delta=0.44 tow=557855800 lon=6.51024544 lat=51.38268813 h=77.6 n=-3.64 e=-0.31 d=3.04 sol=1 age=0.97
batTemp=27 cpuTemp=46
checkmotorMowRPMStall: Mow
motor Spun up!
DATA: SPINUPTIME (ms), driverPWM, mowRPM, mowRPMSet: 10000, 178, 3159.31, 3200.00
resetting recoverMotorFaultCounter
4:24:16 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=230207 sp=2000196C bat=27.24,0.001(0.49) chg=27.75,1(0.01) diff=0.428 tg=-1.16,-3.95 x=-0.18 y=-3.49 delta=0.44 tow=557860800 lon=6.51024563 lat=51.38268782 h=77.6 n=-3.65 e=-0.32 d=3.03 sol=1 age=0.95
GPS time (UTC): dayOfWeek=sat hour=10
AUTOSTOP: timetable is disabled
AUTOSTART: not defined DOCK_AUTO_START
ERROR: odometry error - rpm too low (left, right)=0.00,0.00
Linetracker.cpp changed mow status: 1
Motor::setMowState 1
motor fault recover counter 1
Info - LoopTime: 3 - 2 - 2.87 - 86ms
4:24:21 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=230207 sp=2000196C bat=27.16,-0.000(1.07) chg=27.74,1(0.00) diff=0.598 tg=-1.16,-3.95 x=-0.18 y=-3.49 delta=0.44 tow=557865800 lon=6.51024533 lat=51.38268785 h=77.6 n=-3.65 e=-0.32 d=3.02 sol=1 age=0.95
dumpState: X=-0.18 Y=-3.49 delta=0.44 mapCRC=-532420 mowPointsIdx=656 dockPointsIdx=0 freePointsIdx=0 wayMode=2 op=1 sensor=0 sonar.enabled=1 fixTimeout=15 absolutePosSource=0 lon=0.00 lat=0.00 mowPwm=255 finishAndRestart=0 motorMowForwardSet=1
save state... ok
4:24:26 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=230207 sp=2000196C bat=27.22,0.001(0.53) chg=27.75,1(0.01) diff=0.555 tg=-1.16,-3.95 x=-0.18 y=-3.49 delta=0.44 tow=557870800 lon=6.51024531 lat=51.38268781 h=77.6 n=-3.65 e=-0.32 d=3.02 sol=1 age=0.94
checkmotorMowRPMStall: Mow
motor Spun up!
DATA: SPINUPTIME (ms), driverPWM, mowRPM, mowRPMSet: 10000, 178, 3236.47, 3200.00
resetting recoverMotorFaultCounter
Info - LoopTime: 3 - 2 - 2.88 - 99ms
4:24:31 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=230207 sp=200000A0 bat=27.17,0.000(0.53) chg=27.69,1(0.01) diff=0.525 tg=-1.16,-3.95 x=-0.18 y=-3.49 delta=0.44 tow=557875800 lon=6.51024525 lat=51.38268805 h=77.6 n=-3.65 e=-0.33 d=3.03 sol=1 age=0.94
ERROR: odometry error - rpm too low (left, right)=0.00,0.00
Linetracker.cpp changed mow status: 1
Motor::setMowState 1
motor fault recover counter 1
4:24:36 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=230207 sp=2000196C bat=27.14,-0.001(0.79) chg=27.74,1(0.01) diff=0.597 tg=-1.16,-3.95 x=-0.18 y=-3.49 delta=0.44 tow=557880800 lon=6.51024513 lat=51.38268780 h=77.6 n=-3.65 e=-0.33 d=3.03 sol=1 age=0.94
dumpState: X=-0.18 Y=-3.49 delta=0.44 mapCRC=-532420 mowPointsIdx=656 dockPointsIdx=0 freePointsIdx=0 wayMode=2 op=1 sensor=0 sonar.enabled=1 fixTimeout=15 absolutePosSource=0 lon=0.00 lat=0.00 mowPwm=255 finishAndRestart=0 motorMowForwardSet=0
save state... ok
Info - LoopTime: 2 - 1 - 2.86 - 99ms
4:24:41 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=230207 sp=2000196C bat=27.17,-0.001(0.50) chg=27.70,1(0.01) diff=0.563 tg=-1.16,-3.95 x=-0.18 y=-3.49 delta=0.44 tow=557885800 lon=6.51024514 lat=51.38268783 h=77.6 n=-3.65 e=-0.33 d=3.02 sol=1 age=0.95
checkmotorMowRPMStall: Mow
motor Spun up!
DATA: SPINUPTIME (ms), driverPWM, mowRPM, mowRPMSet: 10000, 181, 3224.88, 3200.00
resetting recoverMotorFaultCounter
4:24:46 ctlDur=0.02 op=Mow(initiatedByOperator 1) freem=230207 sp=2000196C bat=27.20,-0.000(0.54) chg=27.72,1(0.01) diff=0.546 tg=-1.16,-3.95 x=-0.18 y=-3.49 delta=0.45 tow=557890800 lon=6.51024523 lat=51.38268805 h=77.6 n=-3.65 e=-0.33 d=3.02 sol=1 age=0.93
GPS time (UTC): dayOfWeek=sat hour=10
AUTOSTOP: timetable is disabled
AUTOSTART: not defined DOCK_AUTO_START
ERROR: odometry error - rpm too low (left, right)=0.00,0.00
Linetracker.cpp changed mow status: 1
Motor::setMowState 1
motor fault recover counter 1
Motor::setMowState 0
setOperation op=0
changeOperationType
dumpState: X=-0.18 Y=-3.49 delta=0.45 mapCRC=-532420 mowPointsIdx=656 dockPointsIdx=0 freePointsIdx=0 wayMode=2 op=0 sensor=0 sonar.enabled=1 fixTimeout=15 absolutePosSource=0 lon=0.00 lat=0.00 mowPwm=255 finishAndRestart=0 motorMowForwardSet=1
save state... ok
==> changeOp:Idle(initiatedByOperator 1)
OP_IDLE
Motor::setMowState 0
==> changeOp:Charge(initiatedByOperator 0)
OP_CHARGE dockOp.initiatedByOperator=1 dockReasonRainTriggered=0
Motor::setMowState 0
ChargeOp: charging completed (DOCKING_STATION=1, battery.isDocked=0, dockOp.initiatedByOperator=1, maps.mowPointsIdx=656, DOCK_AUTO_START=0, dockOp.dockReasonRainTriggered=0, dockOp.dockReasonRainAutoStartTime(min remain)=-264, timetable.mowingCompletedInCurrentTimeFrame=0, timetable.mowingAllowed=1, finishAndRestart=0)
Motor::setMowState 0
setOperation op=0
changeOperationType
==> changeOp:Idle(initiatedByOperator 1)
OP_IDLE
Motor::setMowState 0
==> changeOp:Charge(initiatedByOperator 0)
OP_CHARGE dockOp.initiatedByOperator=1 dockReasonRainTriggered=0
Motor::setMowState 0
ChargeOp: charging completed (DOCKING_STATION=1, battery.isDocked=0, dockOp.initiatedByOperator=1, maps.mowPointsIdx=656, DOCK_AUTO_START=0, dockOp.dockReasonRainTriggered=0, dockOp.dockReasonRainAutoStartTime(min remain)=-264, timetable.mowingCompletedInCurrentTimeFrame=0, timetable.mowingAllowed=1, finishAndRestart=0)
Motor::setMowState 0
setOperation op=0
changeOperationType
==> changeOp:Idle(initiatedByOperator 1)
OP_IDLE
Motor::setMowState 0
==> changeOp:Charge(initiatedByOperator 0)
OP_CHARGE dockOp.initiatedByOperator=1 dockReasonRainTriggered=0
Motor::setMowState 0
ChargeOp: charging completed (DOCKING_STATION=1, battery.isDocked=0, dockOp.initiatedByOperator=1, maps.mowPointsIdx=656, DOCK_AUTO_START=0, dockOp.dockReasonRainTriggered=0, dockOp.dockReasonRainAutoStartTime(min remain)=-264, timetable.mowingCompletedInCurrentTimeFrame=0, timetable.mowingAllowed=1, finishAndRestart=0)
Info - LoopTime: 3 - 2 - 3.15 - 151ms
4:24:51 ctlDur=0.02 op=Charge(initiatedByOperator 0) freem=230207 sp=2000196C bat=27.32,-0.000(0.27) chg=27.94,1(0.01) diff=0.223 tg=-1.16,-3.95 x=-0.18 y=-3.49 delta=0.44 tow=557895800 lon=6.51024515 lat=51.38268773 h=77.6 n=-3.66 e=-0.33 d=3.01 sol=1 age=0.96
dumpState: X=-0.18 Y=-3.49 delta=0.44 mapCRC=-532420 mowPointsIdx=656 dockPointsIdx=0 freePointsIdx=0 wayMode=2 op=2 sensor=0 sonar.enabled=1 fixTimeout=15 absolutePosSource=0 lon=0.00 lat=0.00 mowPwm=255 finishAndRestart=0 motorMowForwardSet=1
save state... ok